An integrated manipulating and dynamic positioning system

An integrated manipulating and dynamic positioning system for the underwater pipeline and cable detecting and repairing equipment (in short, PCDR) bas been described in the paper. The paper has introduced the system from the following aspects, its control system amhitechre, system integation, working mode, man-machine display, control policy and pipe position keeping simulation result. The manipulation console has been assembled in PCDR eguipment and flnished tbe surface and underwater sea trial in tbe Bobai Sea. The trivial has shown that the system operation was stable, the man-machine dsplay was straight Porwml and the manipulation was easy which alleviated working intensions of the working staff.